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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (c) 2010-2011, NVIDIA Corporation</span>
<a name="l00003"></a>00003 <span class="comment"> * All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment"> * modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"> *   * Redistributions of source code must retain the above copyright</span>
<a name="l00008"></a>00008 <span class="comment"> *     notice, this list of conditions and the following disclaimer.</span>
<a name="l00009"></a>00009 <span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00010"></a>00010 <span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span>
<a name="l00011"></a>00011 <span class="comment"> *     documentation and/or other materials provided with the distribution.</span>
<a name="l00012"></a>00012 <span class="comment"> *   * Neither the name of NVIDIA Corporation nor the</span>
<a name="l00013"></a>00013 <span class="comment"> *     names of its contributors may be used to endorse or promote products</span>
<a name="l00014"></a>00014 <span class="comment"> *     derived from this software without specific prior written permission.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00017"></a>00017 <span class="comment"> * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00018"></a>00018 <span class="comment"> * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00019"></a>00019 <span class="comment"> * DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT HOLDER&gt; BE LIABLE FOR ANY</span>
<a name="l00020"></a>00020 <span class="comment"> * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00021"></a>00021 <span class="comment"> * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00022"></a>00022 <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span>
<a name="l00023"></a>00023 <span class="comment"> * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00024"></a>00024 <span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00025"></a>00025 <span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="keyword">namespace </span>nih {
<a name="l00029"></a>00029 
<a name="l00030"></a>00030 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00031"></a><a class="code" href="structnih_1_1_bbox.html#ac674f03e9e984723f2398447391e0807">00031</a> <a class="code" href="structnih_1_1_bbox.html#ac674f03e9e984723f2398447391e0807">Bbox&lt;Vector_t&gt;::Bbox</a>() :
<a name="l00032"></a>00032         m_min( <a class="code" href="structnih_1_1_field__traits.html">Field_traits</a>&lt;Field_type&gt;::<a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">max</a>() ),
<a name="l00033"></a>00033         m_max( <a class="code" href="structnih_1_1_field__traits.html">Field_traits</a>&lt;Field_type&gt;::<a class="code" href="group__vectors.html#ga5809911d15c32de18955c59865379695">min</a>() )
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 }
<a name="l00036"></a>00036 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00037"></a><a class="code" href="structnih_1_1_bbox.html#ad92cdc222bbd3f5cd5f67f09604eaedc">00037</a> <a class="code" href="structnih_1_1_bbox.html#ac674f03e9e984723f2398447391e0807">Bbox&lt;Vector_t&gt;::Bbox</a>(<span class="keyword">const</span> Vector_t&amp; v) :
<a name="l00038"></a>00038         m_min( v ),
<a name="l00039"></a>00039         m_max( v )
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 }
<a name="l00042"></a>00042 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00043"></a><a class="code" href="structnih_1_1_bbox.html#a75c9f074a52e3c0acbc5f747c6999df7">00043</a> <a class="code" href="structnih_1_1_bbox.html#ac674f03e9e984723f2398447391e0807">Bbox&lt;Vector_t&gt;::Bbox</a>(<span class="keyword">const</span> Vector_t&amp; v1, <span class="keyword">const</span> Vector_t&amp; v2) :
<a name="l00044"></a>00044         m_min( v1 ),
<a name="l00045"></a>00045         m_max( v2 )
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00049"></a><a class="code" href="structnih_1_1_bbox.html#a0512a9e8597c575f8b39d7d50d4a088d">00049</a> <a class="code" href="structnih_1_1_bbox.html#ac674f03e9e984723f2398447391e0807">Bbox&lt;Vector_t&gt;::Bbox</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bb1, <span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bb2)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051         <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; m_min.dimension(); i++)
<a name="l00052"></a>00052         {
<a name="l00053"></a>00053         m_min[i] = <a class="code" href="group__vectors.html#ga5809911d15c32de18955c59865379695">::nih::min</a>( bb1[0][i], bb2[0][i] );
<a name="l00054"></a>00054                 m_max[i] = <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">::nih::max</a>( bb1[1][i], bb2[1][i] );
<a name="l00055"></a>00055         }
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00058"></a><a class="code" href="structnih_1_1_bbox.html#a256898f0ab2b2648ea785db9cd47c562">00058</a> <a class="code" href="structnih_1_1_bbox.html#ac674f03e9e984723f2398447391e0807">Bbox&lt;Vector_t&gt;::Bbox</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bb) :
<a name="l00059"></a>00059     m_min( bb.m_min ),
<a name="l00060"></a>00060     m_max( bb.m_max )
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 
<a name="l00064"></a>00064 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00065"></a><a class="code" href="structnih_1_1_bbox.html#aaf285b037bc220098333d91de589d010">00065</a> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1_bbox.html#aaf285b037bc220098333d91de589d010">Bbox&lt;Vector_t&gt;::insert</a>(
<a name="l00066"></a>00066         <span class="keyword">const</span> Vector_t&amp; v)
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068         <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; m_min.dimension(); i++)
<a name="l00069"></a>00069         {
<a name="l00070"></a>00070                 m_min[i] = <a class="code" href="group__vectors.html#ga5809911d15c32de18955c59865379695">::nih::min</a>( m_min[i], v[i] );
<a name="l00071"></a>00071                 m_max[i] = <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">::nih::max</a>( m_max[i], v[i] );
<a name="l00072"></a>00072         }
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00075"></a><a class="code" href="structnih_1_1_bbox.html#a250b720b5c23e3f4e3757d052c0beb67">00075</a> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1_bbox.html#aaf285b037bc220098333d91de589d010">Bbox&lt;Vector_t&gt;::insert</a>(
<a name="l00076"></a>00076         <span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox</a>&amp; bbox)
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078         <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; m_min.dimension(); i++)
<a name="l00079"></a>00079         {
<a name="l00080"></a>00080         m_min[i] = <a class="code" href="group__vectors.html#ga5809911d15c32de18955c59865379695">::nih::min</a>( m_min[i], bbox.<a class="code" href="structnih_1_1_bbox.html#a1d8ccda901cd9ecfe7ad40d046362936" title="min corner">m_min</a>[i] );
<a name="l00081"></a>00081                 m_max[i] = <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">::nih::max</a>( m_max[i], bbox.<a class="code" href="structnih_1_1_bbox.html#acf51fbadf69955a4a12641d96b17a9b8" title="max corner">m_max</a>[i] );
<a name="l00082"></a>00082         }
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00085"></a><a class="code" href="structnih_1_1_bbox.html#a0908567fff19b639c7d6e875acbef265">00085</a> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1_bbox.html#a0908567fff19b639c7d6e875acbef265">Bbox&lt;Vector_t&gt;::clear</a>()
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087         <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; m_min.dimension(); i++)
<a name="l00088"></a>00088         {
<a name="l00089"></a>00089                 m_min[i] = <a class="code" href="structnih_1_1_field__traits.html">Field_traits&lt;Field_type&gt;::max</a>();
<a name="l00090"></a>00090                 m_max[i] = <a class="code" href="structnih_1_1_field__traits.html">Field_traits&lt;Field_type&gt;::min</a>();
<a name="l00091"></a>00091         }
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 
<a name="l00094"></a>00094 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00095"></a><a class="code" href="structnih_1_1_bbox.html#a73597545739fe5df476167b616ffc247">00095</a> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; <a class="code" href="structnih_1_1_bbox.html#a73597545739fe5df476167b616ffc247">Bbox&lt;Vector_t&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bb)
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097     m_min = bb.<a class="code" href="structnih_1_1_bbox.html#a1d8ccda901cd9ecfe7ad40d046362936" title="min corner">m_min</a>;
<a name="l00098"></a>00098     m_max = bb.<a class="code" href="structnih_1_1_bbox.html#acf51fbadf69955a4a12641d96b17a9b8" title="max corner">m_max</a>;
<a name="l00099"></a>00099     <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00103"></a><a class="code" href="group__bboxes.html#ga38d296764ec08b5bb7cb072460967e00">00103</a> <span class="keywordtype">size_t</span> <a class="code" href="group__bboxes.html#ga38d296764ec08b5bb7cb072460967e00">largest_axis</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bbox)
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105         <span class="keyword">typedef</span> <span class="keyword">typename</span> Vector_t::Field_type Field_type;
<a name="l00106"></a>00106 
<a name="l00107"></a>00107         <span class="keyword">const</span> Vector_t edge( bbox[1] - bbox[0] );
<a name="l00108"></a>00108         <span class="keywordtype">size_t</span> axis = 0;
<a name="l00109"></a>00109         Field_type v = edge[0];
<a name="l00110"></a>00110 
<a name="l00111"></a>00111         <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 1; i &lt; edge.dimension(); i++)
<a name="l00112"></a>00112         {
<a name="l00113"></a>00113                 <span class="keywordflow">if</span> (v &lt; edge[i])
<a name="l00114"></a>00114                 {
<a name="l00115"></a>00115                         v = edge[i];
<a name="l00116"></a>00116                         axis = i;
<a name="l00117"></a>00117                 }
<a name="l00118"></a>00118         }
<a name="l00119"></a>00119         <span class="keywordflow">return</span> axis;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122 <span class="comment">// compute the area of a 3d bbox</span>
<a name="l00123"></a>00123 <span class="comment">//</span>
<a name="l00124"></a>00124 <span class="comment">// \param bbox     bbox object</span>
<a name="l00125"></a><a class="code" href="group__bboxes.html#gaceb0562c9b45c828b66c12f65bd85d8b">00125</a> <span class="keywordtype">float</span> <a class="code" href="group__bboxes.html#gaceb0562c9b45c828b66c12f65bd85d8b">area</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>&amp; bbox)
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127     <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a> edge = bbox[1] - bbox[0];
<a name="l00128"></a>00128     <span class="keywordflow">return</span> edge[0] * edge[1] + edge[2] * (edge[0] + edge[1]);
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130 
<a name="l00131"></a>00131 <span class="comment">// point-in-bbox inclusion predicate</span>
<a name="l00132"></a>00132 <span class="comment">//</span>
<a name="l00133"></a>00133 <span class="comment">// \param bbox     bbox object</span>
<a name="l00134"></a>00134 <span class="comment">// \param p        point to test for inclusion</span>
<a name="l00135"></a>00135 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00136"></a><a class="code" href="group__bboxes.html#gaddb50572c7ac110eddcc46bb6cf6fcc5">00136</a> <span class="keywordtype">bool</span> <a class="code" href="group__bboxes.html#gaddb50572c7ac110eddcc46bb6cf6fcc5">contains</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bbox, <span class="keyword">const</span> Vector_t&amp; p)
<a name="l00137"></a>00137 {
<a name="l00138"></a>00138     <span class="keywordflow">for</span> (uint32 i = 0; i &lt; p.dimension(); ++i)
<a name="l00139"></a>00139     {
<a name="l00140"></a>00140         <span class="keywordflow">if</span> (p[i] &lt; bbox[0][i] ||
<a name="l00141"></a>00141             p[i] &gt; bbox[1][i])
<a name="l00142"></a>00142             <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00143"></a>00143     }
<a name="l00144"></a>00144     <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 
<a name="l00147"></a>00147 <span class="comment">// point-to-bbox squared distance</span>
<a name="l00148"></a>00148 <span class="comment">//</span>
<a name="l00149"></a>00149 <span class="comment">// \param bbox     bbox object</span>
<a name="l00150"></a>00150 <span class="comment">// \param p        point</span>
<a name="l00151"></a>00151 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Vector_t&gt;
<a name="l00152"></a><a class="code" href="group__bboxes.html#gae81285029f77d03eb828a15fb90ffede">00152</a> <span class="keywordtype">float</span> <a class="code" href="group__bboxes.html#gae81285029f77d03eb828a15fb90ffede">sq_distance</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox&lt;Vector_t&gt;</a>&amp; bbox, <span class="keyword">const</span> Vector_t&amp; p)
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154     <span class="keywordtype">float</span> r = 0.0f;
<a name="l00155"></a>00155     <span class="keywordflow">for</span> (uint32 i = 0; i &lt; p.dimension(); ++i)
<a name="l00156"></a>00156     {
<a name="l00157"></a>00157         <span class="keyword">const</span> <span class="keywordtype">float</span> dist = <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">nih::max</a>( bbox[0][i] - p[i], 0.0f ) +
<a name="l00158"></a>00158                            <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">nih::max</a>( p[i] - bbox[1][i], 0.0f );
<a name="l00159"></a>00159 
<a name="l00160"></a>00160         r += dist*dist;
<a name="l00161"></a>00161     }
<a name="l00162"></a>00162     <span class="keywordflow">return</span> r;
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 } <span class="comment">// namespace nih</span>
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